CN105313769A - Vehicle active forewarning method, system and device based on millimeter wave radar - Google Patents
Vehicle active forewarning method, system and device based on millimeter wave radar Download PDFInfo
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Abstract
The invention discloses a vehicle active forewarning method, system and device based on millimeter wave radar. The forewarning method comprises following steps: obtaining vehicle driving information from each sensor; determining whether two vehicles are in a same lane based on the relative angle and relative distance between a vehicle and an objective vehicle; determining the longitudinal safe braking distance if the two vehicles are in a same lane, wherein Sw represents a warning safe distance, Sbr represents a safe braking distance, and R represents the relative distance; if R>Sw, the vehicle is in a safe driving state; if Sw>=R>Sbr, the vehicle is faced with a potential risk of collision; and if R<=Sbr, the vehicle is in an extremely dangerous state. By use of the forewarning method, system and device, the safety state of a vehicle is pre-estimated and early warning is made; accident rate is effectively reduced; the signal processing time is in milliseconds; the device is easy to install and maintain; good using effect is achieved.
Description
Technical field
The present invention relates to vehicle active safety technologies field, particularly relate to a kind of vehicle-mounted active forewarning method, system and device based on millimeter wave radar.
Background technology
Automobile becomes the life style of a kind of masses gradually, it shortens the time of people's go off daily and Material Transportation greatly, economic growth and social progress are promoted, but thing followed traffic safety problem also serious threat the safety of life and property of people, traffic safety problem is a common social concern, is also a global difficult problem.
Traffic accident there is larger randomness, be subject to the restriction of many factors in driving environment, a key factor is driver characteristics, as driving experience, driving condition and driving style etc.; Another factor is driving environment, is be very easy to traffic accident occurs as travelled at sleety weather or heavy road face; Also have a factor to be the factor of car, as being equipped with ABS anti-lock braking system, its safety performance is relatively higher than the vehicle not being equipped with above system.Owing to causing the many factors of traffic accident, security strategy common on current automobile mainly belongs to passive-type, as safety strap, safety air bag and ink absorption speed etc., these behaves can play safety protection function to a certain extent, but its feature is all start generation effect after traffic accident occurs, the injury that accident causes can only be weakened, accident rate can not be reduced, therefore necessary to automobile initiatively early warning technology study, when there is risk of collision in motoring condition, just initiatively chaufeur is reminded or warn, and then reach the object avoiding traffic accident and occur.
Summary of the invention
The technical problem to be solved in the present invention is can not reduce the defect of accident rate for passive security technology in prior art, a kind of signal processing time is provided to be grade, and can the vehicle-mounted active forewarning method, system and device based on millimeter wave radar of judgement vehicle safety state of real-time high-efficiency.
The technical solution adopted for the present invention to solve the technical problems is:
The invention provides a kind of vehicle-mounted active forewarning method based on millimeter wave radar, comprise the following steps:
S1, obtain vehicle traveling information from each sensor, comprise the moving velocity v of vehicle
1, the distance d of vehicle and left and right lane mark
land d
r, the relative velocity of vehicle-to-target vehicle, relative distance R and relative angle α and coefficient of road adhesion f;
S2, according to the relative angle of vehicle-to-target vehicle and relative distance, judge whether two cars are in same track;
If S3 vehicle-to-target vehicle is in same track, then carry out the judgement of longitudinal brake safe distance; According to alarm security distance S
w, brake safe distance S
brwith relative distance R, if R > is S
w, then illustrate that vehicle is in safety traffic state; If S
w>=R > S
br, then illustrate that vehicle exists potential risk of collision; If R≤S
br, illustrate that vehicle is in the state be in extreme danger;
Wherein, S
wand S
brcomputing formula be:
Target vehicle moving velocity is v
2, in case of emergency situation needs braking, chaufeur brake response time t
1, brake system of car t delay time
2, within these two time periods, two cars are all also in original motoring condition, and the distance that vehicle and target vehicle travel is respectively d
1, d
2, their computing formula is:
d
1＝v
1(t
1+t
2)
d
2＝v
2(t
1+t
2)
Vehicle is through S
1stopping distance and target vehicle be in relative static conditions, S
1computing formula be:
G is acceleration due to gravity, and the distance that internal object vehicle travels during this period of time is S
2, now the minimum following distance of vehicle headstock and the target vehicle tailstock is S
0.
Judge in step S2 that the criterion that vehicle-to-target vehicle is in same track is:
Wherein, vehicle is relative to displacement D=R × sin α of datum line, and W is width over sides of car body, and h is lane mark width; When target vehicle is in from car left front, relative angle α is less than 0, and when target vehicle is in from car right front, relative angle α is greater than 0, and when target vehicle is in from car dead ahead, relative angle α equals 0.
In step S1, the acquisition methods of the relative velocity of vehicle-to-target vehicle, relative distance and relative angle is:
DSP signal processor carries out real-time AD sampling to millimeter wave radar intermediate-freuqncy signal, by sef-adapting filter filtering noise jamming signal wherein, application all phase Fast Fourier Transform (FFT) method extracts the relative velocity of vehicle-to-target vehicle, relative distance and relative angle.
The early warning result of step S3 in lcd touch screen display, can show every travelling data information and driving graphicinformation simultaneously.
The present invention also provides a kind of vehicle-mounted active forewarning system based on millimeter wave radar, comprises with lower part:
Vehicle traveling information acquiring unit, for obtaining the vehicle traveling information from each sensor, comprises the moving velocity v of vehicle
1, the distance d of vehicle and left and right lane mark
land d
r, the relative velocity of vehicle-to-target vehicle, relative distance R and relative angle α and coefficient of road adhesion f;
Track identification unit, for according to the relative angle of vehicle-to-target vehicle and relative distance, judges whether two cars are in same track;
Vehicle safe braking distance judging unit, if be in same track for vehicle-to-target vehicle, carries out the judgement of longitudinal brake safe distance; According to alarm security distance S
w, brake safe distance S
brwith relative distance R, if R > is S
w, then illustrate that vehicle is in safety traffic state; If S
w>=R > S
br, then illustrate that vehicle exists potential risk of collision; If R≤S
br, illustrate that vehicle is in the state be in extreme danger;
Wherein, S
wand S
brcomputing formula be:
Target vehicle moving velocity is v
2, in case of emergency situation needs braking, chaufeur brake response time t
1, brake system of car t delay time
2, within these two time periods, two cars are all also in original motoring condition, and the distance that vehicle and target vehicle travel is respectively d
1, d
2, their computing formula is:
d
1＝v
1(t
1+t
2)
d
2＝v
2(t
1+t
2)
Vehicle is through S
1stopping distance and target vehicle be in relative static conditions, S
1computing formula be:
G is acceleration due to gravity, and the distance that internal object vehicle travels during this period of time is S
2, now the minimum following distance of vehicle headstock and the target vehicle tailstock is S
0.
Judge in the identification unit of track that the criterion that vehicle-to-target vehicle is in same track is:
Wherein, vehicle is relative to displacement D=R × sin α of datum line, and W is width over sides of car body, and h is lane mark width; When target vehicle is in from car left front, relative angle α is less than 0, and when target vehicle is in from car right front, relative angle α is greater than 0, and when target vehicle is in from car dead ahead, relative angle α equals 0.
This system also comprises DSP data processing unit, for carrying out real-time AD sampling to millimeter wave radar intermediate-freuqncy signal, by sef-adapting filter filtering noise jamming signal wherein, application all phase Fast Fourier Transform (FFT) method extracts the relative velocity of vehicle-to-target vehicle, relative distance and relative angle.
This system also comprises early warning information display unit, in lcd touch screen display early warning result, shows every travelling data information and driving graphicinformation simultaneously.
The present invention also provides a kind of vehicle-mounted active forewarning device based on millimeter wave radar, comprise vehicle-mounted ARM management platform, and all coupled DSP signal processor and sensor group, described DSP signal processor is also connected with millimeter wave radar, and described millimeter wave radar and described sensor group are arranged on vehicle head;
Described DSP signal processor receives and processes the signals of vehicles that described millimeter wave radar collects, and therefrom extracts the relative velocity of vehicle-to-target vehicle, relative distance and relative angle information, and these information is sent to described vehicle-mounted ARM management platform;
After described vehicle-mounted ARM management platform receives the information of vehicles that described millimeter wave radar and described sensor group send, real-time calculating vehicle running state, and vehicle safety degree is evaluated;
Described sensor group comprises pavement condition sensor, lane mark sensor, speed sensor.
This device also comprises tire pressure monitoring sensor, the GPS sensor be all connected with described vehicle-mounted ARM management platform, camera of driving a vehicle, driving style select module, liquid crystal touch screen, alarm buzzer, warning indicator lamp and wireless network card.
The beneficial effect that the present invention produces is: the invention provides a kind of vehicle-mounted active forewarning method, system and device based on millimeter wave radar, calculated by the vehicle traveling information got sensor, judge the safe condition of vehicle, and make early warning in advance, can accident rate be effectively reduced; By using millimeter wave radar to carry out collection signal, significantly improve the speed of response under dangerous situation, making signal processing time be reduced to Millisecond; And by using embedded device, the spatial volume of actv. equipment and manufacturing cost, be convenient to installation and maintenance.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the diagram of circuit of the vehicle-mounted active forewarning method based on millimeter wave radar of the embodiment of the present invention;
Fig. 2 is the structural representation of the vehicle-mounted active forewarning system based on millimeter wave radar of the embodiment of the present invention;
Fig. 3 is the circuit connecting mode schematic diagram of the vehicle-mounted active forewarning device based on millimeter wave radar of the embodiment of the present invention;
Fig. 4 is the schematic diagram of the track identification model of the embodiment of the present invention;
Fig. 5 is the schematic diagram of longitudinal brake safe distance model of the embodiment of the present invention;
1-millimeter wave radar in figure, 2-DSP signal processor, 3-pavement condition sensor, 4-lane mark sensor, 5-tire pressure monitoring sensor, 6-speed sensor, 7-GPS sensor, 8-drives a vehicle camera, and 9-driving style selects module, the vehicle-mounted ARM management platform of 10-, 11-liquid crystal touch screen, 12-alarm buzzer, 13-warning indicator lamp, 14-wireless network card, 15-sensor group.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, the vehicle-mounted active forewarning method based on millimeter wave radar of the present invention, comprises the following steps:
S1, obtain vehicle traveling information from each sensor, comprise the moving velocity v of vehicle
1, the distance d of vehicle and left and right lane mark
land d
r, the relative velocity of vehicle-to-target vehicle, relative distance R and relative angle α and coefficient of road adhesion f, wherein, the acquisition methods of the relative movement information of vehicle-to-target vehicle is specially, DSP signal processor carries out real-time AD sampling to millimeter wave radar intermediate-freuqncy signal, by interfering signals such as sef-adapting filter filtering clutters wherein, application all phase Fast Fourier Transform (FFT) (All-phaseFFT, apFFT) method extracts the speed of radar relative to target vehicle, Distance geometry angle information, because all phase Fast Fourier Transform (FFT) has " phase invariance ", namely non-synchronous sampling also can ensure phase accuracy, speed can be extracted through DSP signal processor signal transacting, Distance geometry angle information.The relative velocity of each target vehicle, relative distance and relative angle information are sent to vehicle-mounted ARM management platform in real time.
Each target information that vehicle-mounted ARM management platform real-time reception DSP signal processor sends, meanwhile, the coefficient of road adhesion of real-time reception from pavement condition sensor, the distance from car and left and right lane mark from lane mark sensor, each wheel tyre pressure value from tire pressure monitoring sensor, the Vehicle Speed from car from speed sensor, the geographical location information from GPS sensor, carry out the travel image of bicycle camera.
S2, according to the relative angle of vehicle-to-target vehicle and relative distance, judge whether two cars are in same track; Judge that the criterion that vehicle-to-target vehicle is in same track is:
As shown in Figure 4, be the schematic diagram of track of the present invention identification model, wherein, vehicle is relative to displacement D=R × sin α of datum line, and W is width over sides of car body, and h is lane mark width; When target vehicle is in from car left front, relative angle α is less than 0, and when target vehicle is in from car right front, relative angle α is greater than 0, and when target vehicle is in from car dead ahead, relative angle α equals 0.
If S3 vehicle-to-target vehicle is in same track, then carry out the judgement of longitudinal brake safe distance; According to alarm security distance (Warningsafedrivingdistance) S
w, brake safe distance (Brakingsafedrivingdistance) S
brwith relative distance R, if R > is S
w, then illustrate that vehicle is in safety traffic state; If S
w>=R > S
br, then illustrate that vehicle exists potential risk of collision, active forewarning system begins through the forms such as sound and light alarm and reminds chaufeur to take brake measure; If R≤S
br, illustrate that vehicle is in the state be in extreme danger, maximum brake measure or side direction lane change must be taked immediately just likely to avoid the generation of accident.
Wherein, S
wand S
brcomputing formula be:
As shown in Figure 5, be the schematic diagram of longitudinal brake safe distance model of the present invention, A car represents this car that radar is housed, and B car is expressed as the target vehicle in front, identical track.Wherein, target vehicle moving velocity is v
2, in case of emergency situation needs braking, chaufeur brake response time t
1, brake system of car t delay time
2, within these two time periods, two cars are all also in original motoring condition, and the distance that vehicle and target vehicle travel is respectively d
1, d
2, their computing formula is:
d
1＝v
1(t
1+t
2)
d
2＝v
2(t
1+t
2)
Vehicle is through S
1stopping distance and target vehicle be in relative static conditions, S
1computing formula be:
G is acceleration due to gravity, and the distance that internal object car travels during this period of time is S
2, now the minimum following distance of vehicle headstock and the target carriage tailstock is S
0.
Vehicle-mounted ARM management platform, in lcd touch screen display evaluation result, if evaluation result display exists risk of collision, then enables sound and light alarm, shows every travelling data information and driving graphicinformation simultaneously.
As shown in Figure 2, the vehicle-mounted active forewarning system based on millimeter wave radar of the embodiment of the present invention, for realizing the vehicle-mounted active forewarning method based on millimeter wave radar of above-described embodiment, specifically comprises:
Vehicle traveling information acquiring unit 201, for obtaining the vehicle traveling information from each sensor, comprises the moving velocity v of vehicle
1, the distance d of vehicle and left and right lane mark
land d
r, the relative velocity of vehicle-to-target vehicle, relative distance R and relative angle α and coefficient of road adhesion f;
Track identification unit 202, for according to the relative angle of vehicle-to-target vehicle and relative distance, judges whether two cars are in same track; Judge in this track identification unit that the criterion that vehicle-to-target vehicle is in same track is:
Wherein, vehicle is relative to displacement D=R × sin α of datum line, and W is width over sides of car body, and h is lane mark width; When target vehicle is in from car left front, relative angle α is less than 0, and when target vehicle is in from car right front, relative angle α is greater than 0, and when target vehicle is in from car dead ahead, relative angle α equals 0.
Vehicle safe braking distance judging unit 203, if be in same track for vehicle-to-target vehicle, carries out the judgement of longitudinal brake safe distance; According to alarm security distance S
w, brake safe distance S
brwith relative distance R, if R > is S
w, then illustrate that vehicle is in safety traffic state; If S
w>=R > S
br, then illustrate that vehicle exists potential risk of collision; If R≤S
br, illustrate that vehicle is in the state be in extreme danger;
Wherein, S
wand S
brcomputing formula be:
Target vehicle moving velocity is v
2, in case of emergency situation needs braking, chaufeur brake response time t
1, brake system of car t delay time
2, within these two time periods, two cars are all also in original motoring condition, and the distance that vehicle and target vehicle travel is respectively d
1, d
2, their computing formula is:
d
1＝v
1(t
1+t
2)
d
2＝v
2(t
1+t
2)
Vehicle is through S
1stopping distance and target vehicle be in relative static conditions, S
1computing formula be:
G is acceleration due to gravity, and the distance that internal object vehicle travels during this period of time is S
2, now the minimum following distance of vehicle headstock and the target vehicle tailstock is S
0.
This system also comprises DSP data processing unit, for carrying out real-time AD sampling to millimeter wave radar intermediate-freuqncy signal, by sef-adapting filter filtering noise jamming signal wherein, application all phase Fast Fourier Transform (FFT) method extracts the relative velocity of vehicle-to-target vehicle, relative distance and relative angle.
This system also comprises early warning information display unit, in lcd touch screen display early warning result, shows every travelling data information and driving graphicinformation simultaneously.
The vehicle-mounted active forewarning device based on millimeter wave radar of the embodiment of the present invention, for realizing the vehicle-mounted active forewarning method based on millimeter wave radar of above-described embodiment, specifically comprise running information acquisition module, active forewarning decision-making module and early warning output module three part.As shown in Figure 3, running information acquisition module mainly comprises millimeter wave radar 1 and DSP signal processor 2, pavement condition sensor 3, lane mark sensor 4, tire pressure monitoring sensor 5, speed sensor 6, GPS sensor 7 and driving camera 8; Active forewarning decision-making module mainly comprises vehicle-mounted ARM management platform 10; Early warning output module comprises liquid crystal touch screen 11, alarm buzzer 12, warning indicator lamp 13 and wireless network card 14.
Have DSP signal processor 2 and sensor group 15, the DSP signal processor 2 that are connected with vehicle-mounted ARM management platform 10 are also connected with millimeter wave radar 1, and millimeter wave radar 1 and sensor group 15 are arranged on vehicle head;
DSP signal processor 2 receives and processes the signals of vehicles that millimeter wave radar 1 collects, and therefrom extracts the relative velocity of vehicle-to-target vehicle, relative distance and relative angle information, and these information are sent to vehicle-mounted ARM management platform 10;
After vehicle-mounted ARM management platform 10 receives the information of vehicles that described millimeter wave radar 1 and described sensor group 15 send, real-time calculating vehicle running state, and vehicle safety degree is evaluated;
Sensor group 15 comprises pavement condition sensor 3, lane mark sensor 4, speed sensor 6.This device also comprises tire pressure monitoring sensor 5, the GPS sensor 7 be all connected with vehicle-mounted ARM management platform 10, camera 8 of driving a vehicle, driving style select module 9, liquid crystal touch screen 11, alarm buzzer 12, warning indicator lamp 13 and wireless network card 14.
The treater of embedded platform adopts the S3C6410 chip of ARM11 series.
DSP signal processor 2 adopts TMS320F28335 chip.
Millimeter wave radar 1 and each sensor Real-time Collection associated row car data information, as relative velocity, relative distance, relative angle, coefficient of road adhesion, distance left and right lane mark distance, tire pressure, the speed of a motor vehicle, GPS and driving video, to above data analysis, first track, each target vehicle place is differentiated by track identification model, longitudinal brake safe distance model is enabled to the target vehicle being in current lane and carries out safety rate evaluation, if the following distance that millimeter wave radar 1 is measured is less than alarm security running distance, then carry out first time Warning alarm, buzzer phone and signal alarm frequency less, if chaufeur does not take the measures such as any braking, cause two car following distances to be less than brake safe running distance, then carry out second time danger warning, buzzer phone and signal alarm frequency larger.Be in the risk of collision stage at vehicle and namely active forewarning carried out to chaufeur, remind and warn it to take the measures such as corresponding braking, reach the object of the generation that avoids traffic accident.
Should be understood that, for those of ordinary skills, can be improved according to the above description or convert, and all these improve and convert the protection domain that all should belong to claims of the present invention.
Claims (10)
1., based on a vehicle-mounted active forewarning method for millimeter wave radar, it is characterized in that, comprise the following steps:
S1, obtain vehicle traveling information from each sensor, comprise the moving velocity v of vehicle
1, the distance d of vehicle and left and right lane mark
land d
r, the relative velocity of vehicle-to-target vehicle, relative distance R and relative angle α and coefficient of road adhesion f;
S2, according to the relative angle of vehicle-to-target vehicle and relative distance, judge whether two cars are in same track;
If S3 vehicle-to-target vehicle is in same track, then carry out the judgement of longitudinal brake safe distance; According to alarm security distance S
w, brake safe distance S
brwith relative distance R, if R > is S
w, then illustrate that vehicle is in safety traffic state; If S
w>=R > S
br, then illustrate that vehicle exists potential risk of collision; If R≤S
br, illustrate that vehicle is in the state be in extreme danger;
Wherein, S
wand S
brcomputing formula be:
Target vehicle moving velocity is v
2, in case of emergency situation needs braking, chaufeur brake response time t
1, brake system of car t delay time
2, within these two time periods, two cars are all also in original motoring condition, and the distance that vehicle and target vehicle travel is respectively d
1, d
2, their computing formula is:
d
1＝v
1(t
1+t
2)
d
2＝v
2(t
1+t
2)
Vehicle is through S
1stopping distance and target vehicle be in relative static conditions, S
1computing formula be:
G is acceleration due to gravity, and the distance that internal object vehicle travels during this period of time is S
2, now the minimum following distance of vehicle headstock and the target vehicle tailstock is S
0.
2. the vehicle-mounted active forewarning method based on millimeter wave radar according to claim 1, is characterized in that, judges that the criterion that vehicle-to-target vehicle is in same track is in step S2:
Wherein, vehicle is relative to displacement D=R × sin α of datum line, and W is width over sides of car body, and h is lane mark width; When target vehicle is in from car left front, relative angle α is less than 0, and when target vehicle is in from car right front, relative angle α is greater than 0, and when target vehicle is in from car dead ahead, relative angle α equals 0.
3. the vehicle-mounted active forewarning method based on millimeter wave radar according to claim 1, is characterized in that, in step S1, the acquisition methods of the relative velocity of vehicle-to-target vehicle, relative distance and relative angle is:
DSP signal processor carries out real-time AD sampling to millimeter wave radar intermediate-freuqncy signal, by sef-adapting filter filtering noise jamming signal wherein, application all phase Fast Fourier Transform (FFT) method extracts the relative velocity of vehicle-to-target vehicle, relative distance and relative angle.
4. the vehicle-mounted active forewarning method based on millimeter wave radar according to claim 1, is characterized in that, the early warning result of step S3 in lcd touch screen display, can show every travelling data information and driving graphicinformation simultaneously.
5., based on a vehicle-mounted active forewarning system for millimeter wave radar, it is characterized in that, comprise with lower part:
Vehicle traveling information acquiring unit, for obtaining the vehicle traveling information from each sensor, comprises the moving velocity v of vehicle
1, the distance d of vehicle and left and right lane mark
land d
r, the relative velocity of vehicle-to-target vehicle, relative distance R and relative angle α and coefficient of road adhesion f;
Track identification unit, for according to the relative angle of vehicle-to-target vehicle and relative distance, judges whether two cars are in same track;
Vehicle safe braking distance judging unit, if be in same track for vehicle-to-target vehicle, carries out the judgement of longitudinal brake safe distance; According to alarm security distance S
w, brake safe distance S
brwith relative distance R, if R > is S
w, then illustrate that vehicle is in safety traffic state; If S
w>=R > S
br, then illustrate that vehicle exists potential risk of collision; If R≤S
br, illustrate that vehicle is in the state be in extreme danger;
Wherein, S
wand S
brcomputing formula be:
Target vehicle moving velocity is v
2, in case of emergency situation needs braking, chaufeur brake response time t
1, brake system of car t delay time
2, within these two time periods, two cars are all also in original motoring condition, and the distance that vehicle and target vehicle travel is respectively d
1, d
2, their computing formula is:
d
1＝v
1(t
1+t
2)
d
2＝v
2(t
1+t
2)
Vehicle is through S
1stopping distance and target vehicle be in relative static conditions, S
1computing formula be:
G is acceleration due to gravity, and the distance that internal object vehicle travels during this period of time is S
2, now the minimum following distance of vehicle headstock and the target vehicle tailstock is S
0.
6. the vehicle-mounted active forewarning system based on millimeter wave radar according to claim 5, is characterized in that, judges that the criterion that vehicle-to-target vehicle is in same track is in this track identification unit:
Wherein, vehicle is relative to displacement D=R × sin α of datum line, and W is width over sides of car body, and h is lane mark width; When target vehicle is in from car left front, relative angle α is less than 0, and when target vehicle is in from car right front, relative angle α is greater than 0, and when target vehicle is in from car dead ahead, relative angle α equals 0.
7. the vehicle-mounted active forewarning system based on millimeter wave radar according to claim 5, it is characterized in that, this system also comprises DSP data processing unit, for carrying out real-time AD sampling to millimeter wave radar intermediate-freuqncy signal, by sef-adapting filter filtering noise jamming signal wherein, application all phase Fast Fourier Transform (FFT) method extracts the relative velocity of vehicle-to-target vehicle, relative distance and relative angle.
8. the vehicle-mounted active forewarning system based on millimeter wave radar according to claim 5, it is characterized in that, this system also comprises early warning information display unit, in lcd touch screen display early warning result, shows every travelling data information and driving graphicinformation simultaneously.
9. the vehicle-mounted active forewarning device based on millimeter wave radar, it is characterized in that, comprise vehicle-mounted ARM management platform (10), and all coupled DSP signal processor (2) and sensor group (15), described DSP signal processor (2) is also connected with millimeter wave radar (1), and described millimeter wave radar (1) and described sensor group (15) are arranged on vehicle head;
Described DSP signal processor (2) receives and processes the signals of vehicles that described millimeter wave radar (1) collects, therefrom extract the relative velocity of vehicle-to-target vehicle, relative distance and relative angle information, and these information are sent to described vehicle-mounted ARM management platform (10);
Described vehicle-mounted ARM management platform (10) is as claimed in claim 5 based on the vehicle-mounted active forewarning system of millimeter wave radar, after receiving the information of vehicles that described millimeter wave radar (1) and described sensor group (15) send, real-time calculating vehicle running state, and vehicle safety degree is evaluated;
Described sensor group (15) comprises pavement condition sensor (3), lane mark sensor (4), speed sensor (6).
10. the vehicle-mounted active forewarning device based on millimeter wave radar according to claim 9, it is characterized in that, this device also comprises tire pressure monitoring sensor (5), the GPS sensor (7) be all connected with described vehicle-mounted ARM management platform (10), camera (8) of driving a vehicle, driving style select module (9), liquid crystal touch screen (11), alarm buzzer (12), warning indicator lamp (13) and wireless network card (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN110182203A (en) * | 2018-02-20 | 2019-08-30 | 现代自动车株式会社 | Vehicle and its control method |
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| CN108520639A (en) * | 2018-06-15 | 2018-09-11 | 中国安全生产科学研究院 | A kind of method for early warning and system preventing vehicle collision |
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| CN111275981A (en) * | 2020-01-21 | 2020-06-12 | 长安大学 | Method for identifying starting brake lamp and double-flashing lamp of highway vehicle |
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| CN113408320A (en) * | 2020-03-16 | 2021-09-17 | 上海博泰悦臻网络技术服务有限公司 | Method, electronic device, and computer storage medium for vehicle collision avoidance |
| CN112092722A (en) * | 2020-08-31 | 2020-12-18 | 江苏大学 | Hierarchical lighting type braking warning tail lamp based on vehicle-mounted radar |
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| CN112373388A (en) * | 2020-10-22 | 2021-02-19 | 上善智城(苏州)信息科技有限公司 | Intelligent auxiliary braking system and method based on new energy automobile |
| CN113147597A (en) * | 2021-04-15 | 2021-07-23 | 恒大恒驰新能源汽车研究院(上海)有限公司 | Vehicle electronic rearview mirror display system and method and vehicle |
| CN114604209A (en) * | 2022-03-17 | 2022-06-10 | 西安法士特汽车传动有限公司 | VCU emergency braking auxiliary control system and method for pure electric commercial vehicle |
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